CN116277160B - Explosion-proof type multiaxis robot - Google Patents
Explosion-proof type multiaxis robot Download PDFInfo
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- CN116277160B CN116277160B CN202310559743.1A CN202310559743A CN116277160B CN 116277160 B CN116277160 B CN 116277160B CN 202310559743 A CN202310559743 A CN 202310559743A CN 116277160 B CN116277160 B CN 116277160B
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- explosion
- proof
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- shell
- piston
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention provides an explosion-proof multi-axis robot, which relates to the technical field of robots and comprises a connecting base, wherein the connecting base is connected with one end of a first mechanical arm through a first double-joint module, the other end of the first mechanical arm is connected with one end of a second mechanical arm through a second double-joint module, the other end of the second mechanical arm is connected with a supporting arm through a third double-joint module, a connecting flange is arranged at one end, far away from the second mechanical arm, of the supporting arm, a tail end operation device is arranged at one end, far away from the supporting arm, of the connecting flange, an explosion-proof shell is covered outside the supporting arm, and an explosion-proof structure is arranged on the explosion-proof shell. According to the invention, the explosion-proof shell is covered outside the supporting arm, and when explosion occurs, the explosion-proof shell can protect the outer side of the tail end operation equipment, and the explosion-proof structure can increase the protection area of the explosion-proof shell, so that the protection performance of the tail end operation equipment is improved, the impact force applied to the outer part of the explosion-proof shell is reduced, the explosion-proof performance of the multi-axis robot is improved, and the service life of the multi-axis robot is prolonged.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an explosion-proof multi-axis robot.
Background
The multi-axis robot is also called as a single-axis manipulator, an industrial manipulator, an electric cylinder and the like, and is a multipurpose manipulator which can realize automatic control, can be programmed repeatedly, has multiple degrees of freedom and has the freedom of movement built into a space right angle relationship. The multi-axis robot can be applied to common industrial production fields such as dispensing, plastic dropping, spraying, stacking, sorting, packaging, welding, metal processing, carrying, loading and unloading, assembling, printing and the like, and has remarkable application value in the aspects of replacing manpower, improving production efficiency, stabilizing product quality and the like.
The invention discloses a seven-degree-of-freedom serial-parallel mechanical arm with an authorized bulletin number of CN111360787B, which comprises a base, a first joint, a first connecting rod, a second joint, a connecting bracket, a third joint, a second connecting rod, a fourth joint, a fifth connecting rod, a fifth joint, a sixth connecting rod, a seventh joint and an end effector connecting flange which are sequentially connected; a third connecting rod and a fourth connecting rod are further arranged between the third joint and the fourth joint, one end of the fourth connecting rod is connected with the fourth joint, the other end of the fourth connecting rod is connected with the third connecting rod, and the third connecting rod is connected with a motor shell of the fourth joint; the third connecting rod, the fourth joint and the second connecting rod form a parallel four-rod transmission mechanism; the axis of the third joint, the axis of the fourth joint and the axis of the fifth joint are parallel to each other. The seven-degree-of-freedom serial-parallel type cooperative mechanical arm has the advantages that the novel configuration of the seven-degree-of-freedom serial-parallel type cooperative mechanical arm is good in operation flexibility at the commonly-used reachable range of the main motion space; and simultaneously, the load torque of a motor near the base is reduced, and the moment of inertia of the whole mechanical arm is reduced.
However, the mechanical arm has lower explosion-proof performance, and when the mechanical arm is used in an explosive environment such as a chemical plant, if the chemical plant explodes, the operation equipment arranged at the tail end of the mechanical arm is easy to damage due to the explosion, so that the service life of the multi-axis robot is reduced.
Disclosure of Invention
The invention provides an explosion-proof multi-axis robot which is used for solving the technical problem that working equipment arranged at the tail end of an existing mechanical arm is easy to damage due to explosion.
In order to solve the technical problems, the invention discloses an explosion-proof multi-axis robot, which comprises: the connecting base is connected with one end of a first mechanical arm through a first double-joint module, the other end of the first mechanical arm is connected with one end of a second mechanical arm through a second double-joint module, the other end of the second mechanical arm is connected with a supporting arm through a third double-joint module, one end of the supporting arm, far away from the second mechanical arm, is provided with a connecting flange, one end of the connecting flange, far away from the supporting arm, is provided with tail end operation equipment, the outer part of the supporting arm is covered with an explosion-proof shell, the explosion-proof shell is made of explosion-proof materials, an opening is formed in one side, close to the tail end operation equipment, of the explosion-proof shell, the other side of the explosion-proof shell is fixedly connected with the supporting arm, and an explosion-proof structure is arranged on the explosion-proof shell.
Preferably, the connection base, the first double-joint module, the first mechanical arm, the second double-joint module, the second mechanical arm and the third double-joint module and the supporting arm are all made of explosion-proof materials.
Preferably, the explosion-proof structure comprises an explosion-proof pipe and a plurality of sealing shells, the explosion-proof shell is close to the upper end position and is provided with a mounting hole along the side wall of the explosion-proof shell, the mounting hole is close to one side of the supporting arm and is provided with a plurality of sliding grooves, the mounting hole is communicated with the inside of the explosion-proof shell through the sliding grooves, the explosion-proof pipe is arranged in the mounting hole in a sliding manner up and down, the sealing shell is fixedly connected with the inner wall of the bottom of the explosion-proof shell, the side wall of the explosion-proof shell is provided with a communicating hole corresponding to the sealing shell, one end of the sealing shell, which is far away from the supporting arm, is provided with a first piston plate, the first piston plate is connected with the sealing shell, close to one side inner wall of the supporting arm through an elastic component, the upper end of the sealing shell is provided with a piston pipe, the piston pipe is in an L shape, the piston pipe is communicated with one side of the sealing shell through the communicating pipe, the vertical section of the piston pipe is provided with a second piston plate in a sliding manner, the upper end of the second piston plate is provided with a second piston rod, the upper end of the second piston rod is provided with a connecting plate, one end of the connecting plate is connected with the inner wall of the explosion-proof pipe through the sliding grooves in a sliding manner, and the connecting plate is up and slides up and down along the sliding grooves.
Preferably, the elastic component comprises a first piston rod, the first piston rod is arranged on one side of the first piston plate, which is close to the supporting arm, the first piston rod is arranged in a first sleeve in a sliding manner, one end of the first sleeve, which is close to the supporting arm, is fixedly connected with the inner wall of one side, which is close to the supporting arm, of the sealing shell, a first spring is arranged in the first sleeve, one end of the first spring is fixedly connected with the inner wall of the sealing shell, and the other end of the first spring is fixedly connected with one end, which is far away from the first piston plate, of the first piston rod.
Preferably, the side of the first piston plate remote from the support arm is provided with a handle.
Preferably, the explosion-proof pipe is of a rectangular tubular structure, and the installation Kong Hengjie is in a shape of a Chinese character kou.
Preferably, the explosion-proof pipe upper end sets up a plurality of shutoff boards, and a plurality of shutoff boards are used for shutoff opening, and the shutoff board lower extreme is located the mounting hole, and the shutoff board is articulated to be connected with explosion-proof pipe upper end through articulated seat, and the explosion-proof shell outside sets up a plurality of spacing subassemblies with shutoff board looks adaptation, and spacing subassembly is used for spacing the shutoff board.
Preferably, the limiting component comprises a fixed plate, the lower end of the fixed plate is fixedly connected with the outer side wall of the explosion-proof housing, a sliding hole is formed in the upper end of the fixed plate, a sliding rod is slidably arranged in the sliding hole, a roller is arranged at one end of the sliding rod, which is close to the plugging plate, and is abutted against the side wall of the plugging plate, the sliding rod is far away from one end of the plugging plate, penetrates through the sliding hole and is provided with a baffle, a second spring is sleeved on the sliding rod, one end of the second spring is fixedly connected with the side wall of the baffle, and the other end of the second spring is fixedly connected with the side wall of the fixed plate.
Preferably, the limiting assembly further comprises a limiting plate, the limiting plate is arranged on the inner wall of the explosion-proof pipe, one end of the limiting plate is fixedly connected with the inner wall of the upper end of the explosion-proof pipe, the other end of the limiting plate penetrates through the sliding groove, and the limiting plate extends to the outside of the sliding groove and is in sliding connection with the sliding groove.
Preferably, still include screens subassembly, screens subassembly includes draw-in groove and draw-in bar, the draw-in groove sets up at first piston board outer wall, the draw-in groove is provided with a plurality of, a plurality of draw-in grooves are annular array distribution along first piston board periphery, set up the draw-in bar corresponding with the draw-in groove in the intercommunicating pore, draw-in bar one end and draw-in groove looks adaptation, the draw-in bar other end slides and sets up in the second sleeve, draw-in bar one end and intercommunicating pore inner wall fixed connection are kept away from to the second sleeve, set up the third spring in the second sleeve, first piston board one end fixed connection is kept away from with the draw-in bar to third spring one end, the third spring other end and second sleeve inner wall fixed connection.
The technical scheme of the invention has the following advantages: the invention provides an explosion-proof multi-axis robot, which relates to the technical field of robots and comprises a connecting base, wherein the connecting base is connected with one end of a first mechanical arm through a first double-joint module, the other end of the first mechanical arm is connected with one end of a second mechanical arm through a second double-joint module, the other end of the second mechanical arm is connected with a supporting arm through a third double-joint module, one end, far away from the second mechanical arm, of the supporting arm is provided with a connecting flange, one end, far away from the supporting arm, of the connecting flange is provided with a tail end operation device, the outer part of the supporting arm is covered with an explosion-proof shell, the explosion-proof shell is made of explosion-proof materials, an opening is formed in one side, close to the tail end operation device, of the explosion-proof shell, and the other side of the explosion-proof shell is fixedly connected with the supporting arm. According to the invention, the explosion-proof shell is covered outside the supporting arm, and when explosion occurs, the explosion-proof shell can protect the outer side of the tail end operation equipment, so that the explosion-proof performance of the multi-axis robot is improved, the service life of the multi-axis robot is prolonged, the explosion-proof structure can improve the explosion-proof performance of the explosion-proof shell, increase the protection area of the explosion-proof shell, improve the protection performance of the tail end operation equipment and reduce the impact force applied to the outer part of the explosion-proof shell by replacing manual operation with the explosion-proof multi-axis robot, and the potential safety hazard is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objects and other advantages of the invention may be realized and attained by means of the instrumentalities particularly pointed out in the written description and the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of an explosion-proof multi-axis robot according to the present invention;
FIG. 2 is a side view of an explosion-proof multi-axis robot of the present invention;
FIG. 3 is a schematic view of a plugging plate of an explosion-proof structure in an upright state;
FIG. 4 is an enlarged view of the invention at A in FIG. 3;
FIG. 5 is an enlarged view of the invention at B in FIG. 3;
FIG. 6 is an enlarged view of FIG. 3 at C in accordance with the present invention;
FIG. 7 is an enlarged view of FIG. 3D according to the present invention;
FIG. 8 is an enlarged view of the invention at E in FIG. 3;
FIG. 9 is a top view of FIG. 3 in accordance with the present invention;
FIG. 10 is an enlarged view of the portion F of FIG. 9 in accordance with the present invention;
FIG. 11 is an enlarged view of the portion G of FIG. 9 in accordance with the present invention;
FIG. 12 is a schematic view of a plugging panel of the explosion-proof structure in a horizontal state;
FIG. 13 is an enlarged view of the portion H of FIG. 12 in accordance with the present invention;
FIG. 14 is an enlarged view of the portion I of FIG. 12 in accordance with the present invention;
FIG. 15 is a top view of FIG. 12 in accordance with the present invention;
FIG. 16 is an enlarged view of the portion J of FIG. 15 in accordance with the present invention;
fig. 17 is an enlarged view of fig. 15 at K in accordance with the present invention.
In the figure: 1. the base is connected; 2. a first dual-joint module; 3. a first mechanical arm; 4. a second dual-joint module; 5. a second mechanical arm; 6. a third dual-authority module; 7. a support arm; 8. a connecting flange; 9. an end-point operation device; 10. an explosion-proof housing; 11. an opening; 12. explosion-proof pipe; 13. a sealed housing; 14. a mounting hole; 15. a chute; 16. a communication hole; 17. a first piston plate; 18. a piston tube; 19. a communicating pipe; 20. a second piston plate; 21. a second piston rod; 22. a connecting plate; 23. a first piston rod; 24. a first sleeve; 25. a first spring; 26. a handle; 27. a plugging plate; 28. a fixing plate; 29. a slide bar; 30. a roller; 31. a baffle; 32. a second spring; 33. a limiting plate; 34. a clamping groove; 35. a clamping rod; 36. a second sleeve; 37. and a third spring.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between the embodiments may be combined with each other, but it is necessary to base that a person skilled in the art can implement the combination of technical solutions, when the combination of technical solutions contradicts or cannot be implemented, should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present invention.
Example 1:
the embodiment of the invention provides an explosion-proof multi-axis robot, as shown in fig. 1-17, comprising: the connecting base 1, connect base 1 and be connected with first arm 3 one end through first double-joint module 2, the first arm 3 other end is connected with second arm 5 one end through second double-joint module 4, the second arm 5 other end is connected with support arm 7 through third double-joint module 6, support arm 7 is kept away from second arm 5 one end and is set up flange 8, flange 8 is kept away from support arm 7 one end and is set up terminal operation equipment 9, support arm 7 outside cover is set up explosion-proof shell 10, explosion-proof shell 10 adopts explosion-proof material to make, explosion-proof shell 10 is close to terminal operation equipment 9 one side and sets up opening 11, explosion-proof shell 10 opposite side and support arm 7 fixed connection, set up explosion-proof structure on the explosion-proof shell 10.
The working principle and the beneficial effects of the technical scheme are as follows: the connection base 1 is used for installing the multiaxis robot, the connection base 1 is connected with the first mechanical arm 3 through first double-joint module 2, first mechanical arm 3 is connected with the second mechanical arm 5 through second double-joint module 4, the second mechanical arm 5 is connected with the support arm 7 through third double-joint module 6, make the multiaxis robot have six degrees of freedom, it is more nimble, the terminal end of support arm 7 passes through flange 8 and connects terminal operation equipment 9, terminal operation equipment 9 can be anchor clamps, a sensor, visual detection equipment etc. multiaxis robot can be applied to loading and unloading according to terminal operation equipment 9's difference, the assembly, pick up, welding, the pile up neatly, the glue dispensing, detect etc. at support arm 7 outside cover explosion-proof housing 10, explosion-proof housing 10 can cover terminal operation equipment 9 inside explosion-proof housing 10, thereby carry out explosion-proof to terminal operation equipment 9, when taking place the explosion, explosion-proof housing 10 can protect terminal operation equipment 9 outside, avoid terminal operation equipment 9 outside to damage because of the explosion, the performance of the explosion-proof robot has been improved, multiaxis robot's life, and, through the improvement of the manual work performance of the explosion-proof equipment, the improvement is reduced, the safety vent is only receives the explosion-proof housing, and the safety performance of the improvement is improved, and the explosion-proof housing is exposed to the safety performance of the safety device is improved, and the safety performance is improved, and the safety is improved.
Example 2:
on the basis of the above embodiment 1, the connection base 1, the first double-joint module 2, the first mechanical arm 3, the second double-joint module 4, the second mechanical arm 5, the third double-joint module 6 and the support arm 7 are all made of explosion-proof materials.
The working principle and the beneficial effects of the technical scheme are as follows: the connection base 1, the first double-joint module 2, the first mechanical arm 3, the second double-joint module 4, the second mechanical arm 5, the third double-joint module 6 and the supporting arm 7 are all made of explosion-proof materials, and the explosion-proof motors are adopted inside the first double-joint module 2, the second double-joint module 4 and the third double-joint module 6, so that the comprehensive explosion-proof performance of the multi-axis robot can be improved, the multi-axis robot is prevented from exploding, and the service life of the multi-axis robot is prolonged.
Example 3:
based on embodiment 1 or 2, as shown in fig. 3-17, the explosion-proof structure comprises an explosion-proof tube 12 and a plurality of sealing shells 13, wherein a mounting hole 14 is formed along the side wall of the explosion-proof shell 10 near the upper end of the explosion-proof shell 10, a plurality of sliding grooves 15 are formed on one side of the mounting hole 14 near the supporting arm 7, the mounting hole 14 is communicated with the inside of the explosion-proof shell 10 through the sliding grooves 15, the explosion-proof tube 12 is arranged in the mounting hole 14 in a sliding manner, the explosion-proof tube 12 is in a rectangular tubular structure, the cross section of the mounting hole 14 is in a square shape, the sealing shell 13 is fixedly connected with the inner wall at the bottom of the explosion-proof shell 10, a communication hole 16 corresponding to the sealing shell 13 is formed on the side wall of the explosion-proof shell 10, a first piston plate 17 is in sealing sliding connection with the inner wall of the sealing shell 13, one end, far away from the supporting arm 7, the first piston plate 17 is extended to the outside of the explosion-proof shell 10 through the communication hole 16, the first piston plate 17 is connected with the inner wall of the sealing shell 13 near the supporting arm 7 through an elastic component, a piston tube 18 is arranged at the upper end of the sealing shell 13, the piston tube 18 is in an L shape, the piston tube 18 is formed in a sliding manner, the piston tube 18 is in a vertical shape, the piston tube 18 is in a vertical shape, the piston tube 19 is communicated with the sealing shell 13 through 19, the piston plate 13 is communicated with the piston plate 7 near the side 7, the piston plate 7, a vertical end 18 is near the inner wall, a second piston tube end is connected with the piston rod 22, a connecting plate 22 is connected with the upper end 22, and a connecting plate 21 is connected with the piston rod 22, and a connecting rod is arranged at the piston rod 22.
The working principle and the beneficial effects of the technical scheme are as follows: inert gas is arranged in the sealing shells 13 and the piston tube 18, the inert gas cannot leak under the sealing action of the first piston plate 17 and the second piston plate 20, in the invention, the number of the sealing shells 13 is at least two, two sealing shells 13 are taken as an example, the two sealing shells 13 are symmetrically arranged at the left side and the right side of the supporting arm 7, when the environment where the multiaxial robot is located explodes, because the area of the first piston plate 17 is larger than that of the second piston plate 20, under the action of external explosion impact, the first piston plate 17 slides along the inner wall of the sealing shell 13 towards the direction approaching the supporting arm 7, the inert gas in the sealing shell 13 flows into the piston tube 18 through the communicating pipe 19 and pushes the second piston plate 20 to slide upwards along the inner wall of the piston tube 18, the second piston plate 20 drives the second piston rod 21 to move upwards, the second piston rod 21 drives the connecting plate 22 to move upwards, the connecting rod is in sliding connection with the sliding chute 15, the connecting rod slides upwards along the sliding chute 15 and drives the explosion-proof tube 12 to slide upwards along the inner wall of the mounting hole 14, the explosion-proof tube 12 is of a rectangular tubular structure, the mounting hole 14 is arranged in the shell of the explosion-proof shell 10, the mounting hole 14 is matched with the shape of the explosion-proof tube 12, the upper end of the explosion-proof tube 12 slides upwards to the outside of the mounting hole 14 through the explosion-proof structure, so that the protection area of the explosion-proof shell 10 is increased, the protection performance of the tail end operation equipment 9 is improved, the damage degree of the outer side of the tail end operation equipment 9 is reduced, and likewise, when a collision accident occurs on the outer side of the explosion-proof shell 10, the first piston plate 17 can move along the sealing shell 13 towards the direction close to the supporting arm 7, the protection of the tail end operation equipment 9 is enhanced, the first piston plate 17 can play a buffering role, further reducing the impact force applied to the exterior of the flameproof housing 10.
Example 4:
on the basis of embodiment 3, as shown in fig. 3, the elastic component comprises a first piston rod 23, the first piston rod 23 is arranged on one side of the first piston plate 17 close to the supporting arm 7, the first piston rod 23 is slidably arranged in a first sleeve 24, one end of the first sleeve 24 close to the supporting arm 7 is fixedly connected with the inner wall of the sealing shell 13 close to one side of the supporting arm 7, a first spring 25 is arranged in the first sleeve 24, one end of the first spring 25 is fixedly connected with the inner wall of the sealing shell 13, and the other end of the first spring 25 is fixedly connected with one end of the first piston rod 23 far away from the first piston plate 17.
The working principle and the beneficial effects of the technical scheme are as follows: when the first piston plate 17 is impacted by the outside and slides towards the direction close to the supporting arm 7, the first piston plate 17 drives the first piston rod 23 to slide towards the direction close to the supporting arm 7, the first piston rod 23 drives the first spring 25 to move in the first sleeve 24, the first spring 25 is compressed, the upper end of the explosion-proof pipe 12 moves to the outside of the mounting hole 14, when the impact outside the first piston plate 17 is canceled, under the elastic force of the first spring 25, the first spring 25 is restored to the original position, the first piston plate 17 is driven by the first piston rod 23 to slide towards the direction far away from the supporting arm 7, the second piston plate 20 slides downwards along the vertical section of the piston pipe 18, the second piston plate 20 drives the second piston rod 21 to move downwards, the second piston rod 21 drives the explosion-proof pipe 12 to slide downwards along the mounting hole 14 through the connecting plate 22, the explosion-proof pipe 12 is recovered into the mounting hole 14, the full-direction operation of the tail end operation equipment 9 is facilitated, and the normal operation of the tail end operation equipment 9 cannot be influenced.
Example 5:
on the basis of embodiment 3 or 4, as shown in fig. 3, the first piston plate 17 is provided with a handle 26 on the side remote from the support arm 7.
The working principle and the beneficial effects of the technical scheme are as follows: the handle 26 is provided outside the first piston plate 17, and pulling the handle 26 facilitates adjusting the position of the first piston plate 17 within the sealing housing 13.
Example 6:
on the basis of any one of the embodiments 3 to 5, as shown in fig. 3 to 17, a plurality of plugging plates 27 are arranged at the upper end of the explosion-proof pipe 12, the plugging plates 27 are used for plugging the opening 11, the lower ends of the plugging plates 27 are positioned in the mounting holes 14, the plugging plates 27 are hinged with the upper end of the explosion-proof pipe 12 through a hinge seat, a plurality of limiting components matched with the plugging plates 27 are arranged at the outer side of the explosion-proof housing 10, and the limiting components are used for limiting the plugging plates 27.
The working principle and the beneficial effects of the technical scheme are as follows: the upper end of the explosion-proof pipe 12 is provided with a plurality of blocking plates 27, the lower ends of the blocking plates 27 are hinged with the upper end of the explosion-proof pipe 12 through a hinging seat, the two blocking plates 27 can be arranged in two, the sections of the two blocking plates 27 are rectangular, the lower ends of the blocking plates 27 are positioned in the mounting holes 14 and are hinged with the upper end of the explosion-proof pipe 12, when the explosion-proof pipe 12 slides upwards along the mounting holes 14, the explosion-proof pipe 12 can drive the blocking plates 27 to slide upwards along the mounting holes 14, when the blocking plates 27 slide to the outside of the mounting holes 14 completely, under the action of a limiting component, the blocking plates 27 start to incline towards the direction close to the tail end operation equipment 9 until the two blocking plates 27 reach a horizontal state, at the moment, the upper ends of the explosion-proof pipe 12 are positioned outside the mounting holes 14, the two blocking plates 27 can be spliced when the two blocking plates 27 are in the horizontal state, and the spliced area of the two blocking plates 27 is larger than the cross-section area of the opening 11, the two plugging plates 27 can plug the opening 11 after being spliced, so that external air cannot enter the explosion-proof housing 10 and the explosion-proof tube 12, when the two plugging plates 27 are in a horizontal state, the front side wall and the rear side wall of the plugging plates 27 can be abutted with the side wall of the upper surface of the explosion-proof tube 12, thereby improving the stability of the plugging plates 27, the plugging plates 27 in the horizontal state plug the opening 11, protecting the tail end operation equipment 9 in the explosion-proof housing 10, avoiding the damage to the tail end operation equipment 9 caused by the external impact air entering the explosion-proof housing 10 through the opening 11, arranging a limiting component matched with the plugging plates 27 on the explosion-proof housing 10, when the plugging plates 27 are in the horizontal state to plug the opening 11, the limiting component can enable the plugging plates 27 to be in the horizontal state, when the external impact force is weakened, the plugging plates 27 cannot be opened, the secondary damage to the terminal working equipment 9 caused by the impact gas entering the inside of the explosion-proof housing 10 is avoided.
Example 7:
on the basis of embodiment 6, as shown in fig. 7 and 13, the limiting component comprises a fixed plate 28, the lower end of the fixed plate 28 is fixedly connected with the outer side wall of the explosion-proof housing 10, a sliding hole is formed in the upper end of the fixed plate 28, a sliding rod 29 is slidably arranged in the sliding hole, a roller 30 is arranged at one end, close to the plugging plate 27, of the sliding rod 29, the roller 30 is abutted to the side wall of the plugging plate 27, one end, far away from the plugging plate 27, of the sliding rod 29 penetrates through the sliding hole and is provided with a baffle 31, a second spring 32 is sleeved on the sliding rod 29, one end of the second spring 32 is fixedly connected with the side wall of the baffle 31, and the other end of the second spring 32 is fixedly connected with the side wall of the fixed plate 28.
The working principle and the beneficial effects of the technical scheme are as follows: when the plugging plate 27 slides upwards along the mounting hole 14, the roller 30 is abutted against the side wall of the plugging plate 27, the roller 30 slides along the outer wall of the plugging plate 27, so that the plugging plate 27 slides upwards smoothly, friction between the sliding rod 29 and the plugging plate 27 is reduced, when the plugging plate 27 slides to the outside of the mounting hole 14, one side of the plugging plate 27, which is close to the tail end working equipment 9, is not supported, under the action of the second spring 32, the baffle 31 drives the sliding rod 29 and the roller 30 to move towards the direction, which is close to the tail end working equipment 9, the roller 30 drives the plugging plate 27 to move towards the direction, which is close to the tail end working equipment 9, because the tail end working equipment 9 is different in height, when the tail end working equipment 9 is higher, the plugging plate 27 is firstly obliquely abutted against the tail end working equipment 9 until the upper end of the explosion-proof pipe 12 slides to the outside of the mounting hole 14, the upper end of the explosion-proof pipe 12 is higher than the tail end working equipment 9, at this time, the two plugging plates 27 can be spliced to be rectangular, and the two plugging plates 27 are in a horizontal state, at this time, the two plugging plates 27 can plug the pipe orifice of the explosion-proof pipe 12, so as to realize the plugging of the opening 11, and avoid the damage to the tail end operation equipment 9 caused by the external impact gas entering the explosion-proof housing 10, when the plugging plates 27 are in a horizontal state, the lower surface of the sliding rod 29 slides to the upper surface of the plugging plates 27, under the combined action of the sliding rod 29 and the upper surface of the explosion-proof pipe 12, the plugging plates 27 cannot shake violently up and down, the plugging performance of the plugging plates 27 is improved, the tail end operation equipment 9 is protected, after the impact generated by explosion is finished, the baffle 31 can be manually pulled, the lower surface of the sliding rod 29 is separated from the upper surface of the plugging plates 27, then the plugging plates 27 are manually adjusted, so that the plugging plates 27 are in a vertical state, at this point, the closure plate 27 may be retracted into the mounting hole 14 for further use.
Example 8:
on the basis of embodiment 6 or 7, as shown in fig. 12 and 13, the limiting assembly further comprises a limiting plate 33, wherein the limiting plate 33 is arranged on the inner wall of the explosion-proof tube 12, one end of the limiting plate 33 is fixedly connected with the inner wall of the upper end of the explosion-proof tube 12, and the other end of the limiting plate 33 penetrates through the sliding groove 15, extends to the outside of the sliding groove 15 and is in sliding connection with the sliding groove 15.
The working principle and the beneficial effects of the technical scheme are as follows: limiting plate 33 can support shutoff plate 27 lower surface, under the combined action of explosion-proof pipe 12 upper surface and limiting plate 33, when outside impact gas impacted shutoff plate 27, shutoff plate 27 can not be to being close to terminal operation equipment 9 direction motion, avoid shutoff plate 27 to open, the stability of shutoff plate 27 has been improved, when the shutoff plate 27 front of concatenation receives great outside impact, because two shutoff plates 27 splice stability is higher, impact gas promotes two shutoff plates 27 motion, shutoff plate 27 can drive explosion-proof pipe 12 along mounting hole 14 short distance slip, thereby through the slip of first piston plate 17 and the tensile offset part impact force of first spring 25, have the cushioning effect, further improved explosion-proof performance of explosion-proof shell 10.
Example 9:
on the basis of any one of embodiments 6 to 7, as shown in fig. 8 and 14, the device further comprises a clamping assembly, the clamping assembly comprises clamping grooves 34 and clamping rods 35, the clamping grooves 34 are formed in the outer wall of the first piston plate 17, a plurality of clamping grooves 34 are distributed in an annular array along the periphery of the first piston plate 17, clamping rods 35 corresponding to the clamping grooves 34 are arranged in the communication holes 16, one ends of the clamping rods 35 are matched with the clamping grooves 34, the other ends of the clamping rods 35 are slidably arranged in second sleeves 36, one ends of the second sleeves 36, which are far away from the clamping rods 35, are fixedly connected with the inner wall of the communication holes 16, third springs 37 are arranged in the second sleeves 36, one ends of the third springs 37 are fixedly connected with one ends, which are far away from the first piston plate 17, of the clamping rods 35, and the other ends of the third springs 37 are fixedly connected with the inner wall of the second sleeves 36.
The working principle and the beneficial effects of the technical scheme are as follows: in the initial state, one end of the clamping rod 35 is positioned in the clamping groove 34, so that the first piston plate 17 is fixed in the sealing shell 13, at this time, the first spring 25 is in a stretching state, when explosion happens, the first piston plate 17 is impacted by external impact force, the clamping rod 35 slides in the second sleeve 36 in the direction away from the first piston plate 17 under the action of external force, the third spring 37 is compressed until the clamping rod 35 is separated from the clamping groove 34, under the combined action of the external impact force and the first spring 25, the first piston plate 17 slides in the sealing shell 13 in the direction close to the supporting arm 7 quickly, inert gas in the sealing shell 13 quickly enters the piston tube 18, the explosion-proof tube 12 and the blocking plate 27 quickly extend out of the mounting hole 14, the two blocking plates 27 quickly conduct blocking inside the explosion-proof tube 12, the blocking response speed of the blocking plates 27 is improved, the plugging plate 27 is spliced and plugged rapidly, so that the damage to the tail end operation equipment 9 caused by the fact that external impact gas enters the explosion-proof housing 10 through the explosion-proof tube 12 is avoided, the damage to the tail end operation equipment 9 is further reduced, the explosion-proof performance of the multi-axis robot is improved, the service life of the multi-axis robot is prolonged, after the explosion is finished, the baffle 31 is pulled firstly to separate the sliding rod 29 from the plugging plate 27, the plugging plate 27 is adjusted to be in a vertical state, then the first piston plate 17 is pulled, the first piston plate 17 slides towards the direction far away from the supporting arm 7 until the clamping rod 35 is clamped into the clamping groove 34 again, at the moment, the explosion-proof tube 12 and the lower end of the plugging plate 27 slide into the mounting hole 14 again, and the normal long-term operation of the multi-axis robot is guaranteed by operating the tail end operation equipment 9 through the multi-axis robot.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. An explosion-proof type multi-axis robot, comprising: the connecting base is connected with one end of a first mechanical arm through a first double-joint module, the other end of the first mechanical arm is connected with one end of a second mechanical arm through a second double-joint module, the other end of the second mechanical arm is connected with a supporting arm through a third double-joint module, one end, far away from the second mechanical arm, of the supporting arm is provided with a connecting flange, one end, far away from the supporting arm, of the connecting flange is provided with a tail end operation device, the outer part of the supporting arm is covered with an explosion-proof shell, the explosion-proof shell is made of an explosion-proof material, one side, close to the tail end operation device, of the explosion-proof shell is provided with an opening, the other side of the explosion-proof shell is fixedly connected with the supporting arm, and the explosion-proof shell is provided with an explosion-proof structure;
the explosion-proof structure comprises an explosion-proof pipe and a plurality of sealing shells, wherein the position of the explosion-proof shell close to the upper end is provided with a mounting hole along the side wall of the explosion-proof shell, one side of the mounting hole close to the supporting arm is provided with a plurality of sliding grooves, the mounting hole is communicated with the inside of the explosion-proof shell through the sliding grooves, the explosion-proof pipe is arranged in the mounting hole in a sliding manner up and down, the sealing shell is fixedly connected with the inner wall of the bottom of the explosion-proof shell, the side wall of the explosion-proof shell is provided with a communicating hole corresponding to the sealing shell, one end of the sealing shell far away from the supporting arm is provided with a first piston plate, the first piston plate is in sealing sliding connection with the inner wall of the sealing shell, the first piston plate passes through the communication hole to extend to the outside of the explosion-proof housing far away from one side of the supporting arm, the first piston plate is connected with the inner wall of one side of the sealing shell, which is close to the supporting arm, through the elastic component, the upper end of the sealing shell is provided with a piston tube which is L-shaped, the piston tube is communicated with one side of the sealing shell, which is close to the supporting arm, through the communication tube, the piston tube is provided with a second piston plate in a sliding manner, the upper end of the second piston plate is provided with a second piston rod, the upper end of the second piston rod is provided with a connecting plate, one end of the connecting plate passes through the sliding groove and is fixedly connected with the inner wall of the explosion-proof tube, and the connecting plate vertically slides along the sliding groove;
the elastic component comprises a first piston rod, the first piston rod is arranged on one side of the first piston plate, which is close to the supporting arm, the first piston rod is arranged in a first sleeve in a sliding way, one end of the first sleeve, which is close to the supporting arm, is fixedly connected with the inner wall of the sealing shell, which is close to one side of the supporting arm, a first spring is arranged in the first sleeve, one end of the first spring is fixedly connected with the inner wall of the sealing shell, and the other end of the first spring is fixedly connected with one end, which is far away from the first piston plate, of the first piston rod;
the explosion-proof pipe is provided with a plurality of plugging plates, the plugging plates are used for plugging openings, the lower ends of the plugging plates are positioned in the mounting holes, the plugging plates are hinged with the upper end of the explosion-proof pipe through a hinged seat, the outer side of the explosion-proof shell is provided with a plurality of limiting assemblies matched with the plugging plates, and the limiting assemblies are used for limiting the plugging plates;
the limiting assembly comprises a fixed plate, the lower end of the fixed plate is fixedly connected with the outer side wall of the explosion-proof shell, a sliding hole is formed in the upper end of the fixed plate, a sliding rod is slidably arranged in the sliding hole, a roller is arranged at one end of the sliding rod, which is close to the plugging plate, the roller is in butt joint with the side wall of the plugging plate, one end, which is far away from the plugging plate, of the sliding rod penetrates through the sliding hole and is provided with a baffle, a second spring is sleeved on the sliding rod, one end of the second spring is fixedly connected with the side wall of the baffle, and the other end of the second spring is fixedly connected with the side wall of the fixed plate;
the limiting assembly further comprises a limiting plate, the limiting plate is arranged on the inner wall of the explosion-proof pipe, one end of the limiting plate is fixedly connected with the inner wall of the upper end of the explosion-proof pipe, the other end of the limiting plate penetrates through the sliding groove, and the limiting plate extends to the outside of the sliding groove and is in sliding connection with the sliding groove.
2. The explosion-proof multi-axis robot of claim 1, wherein the connection base, the first dual-joint module, the first mechanical arm, the second dual-joint module, the second mechanical arm, the third dual-joint module and the support arm are all made of explosion-proof materials.
3. The explosion-proof multi-axis robot of claim 1, wherein the first piston plate is provided with a handle on a side thereof remote from the support arm.
4. An explosion-proof multi-axis robot as claimed in claim 1, wherein the explosion-proof pipe has a rectangular tubular structure, and the installation Kong Hengjie has a mouth shape.
5. The explosion-proof multiaxis robot of claim 1 further comprising a clamping component, wherein the clamping component comprises clamping grooves and clamping rods, the clamping grooves are arranged on the outer wall of the first piston plate, a plurality of clamping grooves are distributed in an annular array along the periphery of the first piston plate, clamping rods corresponding to the clamping grooves are arranged in the communication holes, one ends of the clamping rods are matched with the clamping grooves, the other ends of the clamping rods are slidably arranged in the second sleeve, one ends of the second sleeve, which are far away from the clamping rods, are fixedly connected with the inner wall of the communication holes, a third spring is arranged in the second sleeve, one ends of the third spring are fixedly connected with one ends, which are far away from the first piston plate, of the clamping rods, and the other ends of the third spring are fixedly connected with the inner wall of the second sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310559743.1A CN116277160B (en) | 2023-05-18 | 2023-05-18 | Explosion-proof type multiaxis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310559743.1A CN116277160B (en) | 2023-05-18 | 2023-05-18 | Explosion-proof type multiaxis robot |
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| CN116277160A CN116277160A (en) | 2023-06-23 |
| CN116277160B true CN116277160B (en) | 2023-08-29 |
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| CN107921648A (en) * | 2015-09-01 | 2018-04-17 | 西门子股份公司 | Equipment for connecting robot |
| CN108778643A (en) * | 2016-03-17 | 2018-11-09 | 德国航空太空中心 | The protective device of manoeuvre portion for executor, the method for the device of workpiece manipulation and for actuating workpiece manipulation device |
| CN109109000A (en) * | 2017-06-23 | 2019-01-01 | 康茂股份公司 | It is used for industrial machine including the operating unit equipped with safety guard, is particularly used for the functional unit of robot |
| CN109227559A (en) * | 2018-10-13 | 2019-01-18 | 广东嗨学云教育科技有限公司 | A kind of explosive-removal robot with safeguard function |
| CN110997253A (en) * | 2017-08-04 | 2020-04-10 | 米其林集团总公司 | Actuator device comprising a protection device capable of being extended or retracted by bending |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202016001261U1 (en) * | 2016-02-26 | 2017-05-29 | Kuka Systems Gmbh | End effector protection system |
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2023
- 2023-05-18 CN CN202310559743.1A patent/CN116277160B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107921648A (en) * | 2015-09-01 | 2018-04-17 | 西门子股份公司 | Equipment for connecting robot |
| CN108778643A (en) * | 2016-03-17 | 2018-11-09 | 德国航空太空中心 | The protective device of manoeuvre portion for executor, the method for the device of workpiece manipulation and for actuating workpiece manipulation device |
| CN109109000A (en) * | 2017-06-23 | 2019-01-01 | 康茂股份公司 | It is used for industrial machine including the operating unit equipped with safety guard, is particularly used for the functional unit of robot |
| CN110997253A (en) * | 2017-08-04 | 2020-04-10 | 米其林集团总公司 | Actuator device comprising a protection device capable of being extended or retracted by bending |
| CN109227559A (en) * | 2018-10-13 | 2019-01-18 | 广东嗨学云教育科技有限公司 | A kind of explosive-removal robot with safeguard function |
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|---|---|
| CN116277160A (en) | 2023-06-23 |
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